Suppressing Position-Dependent Disturbances in Repetitive Control: With Application to a Substrate Carrier System

Noud Mooren, Gert Witvoet, Ibrahim Açan, Joep Kooijman, Tom A.E. Oomen

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Abstract

Positioning systems are often subject to position-domain disturbances: these are periodic in the position domain yet can appear a-periodic in the time domain. The aim of this paper is to develop a position-domain repetitive control approach that allows to attenuate disturbances with arbitrary varying period. The key idea is to implement a memory loop in the position domain on the basis of non-equidistantly distributed observations, which are inherent to the position domain. An experimental validation on an industrial substrate carrier shows a major performance improvement for a large range of velocities.
Original languageEnglish
Title of host publicationIEEE 16th International Workshop on Advanced Motion Control
PublisherInstitute of Electrical and Electronics Engineers
Pages331-336
Number of pages6
ISBN (Electronic)978-1-7281-3189-4
DOIs
Publication statusPublished - 10 Nov 2020
EventIEEE 16th International Workshop on Advanced Motion Control - University of Agder, Campus Kristiansand, Kristiansand, Norway
Duration: 14 Sep 202016 Sep 2020
https://ewh.ieee.org/conf/amc/2020/index.html

Conference

ConferenceIEEE 16th International Workshop on Advanced Motion Control
Abbreviated titleAMC2020
Country/TerritoryNorway
CityKristiansand
Period14/09/2016/09/20
Internet address

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